摘要
介绍了一种以Freescale公司HCS12单片机为核心控制单元的智能自循迹小车系统。为了使小车能沿既定轨迹快速行进,需要有灵敏的转向和快速的加减速响应,这取决于快速有效的图像提取和处理技术。该系统利用CMOS黑白摄像头获取图像对跑道路径进行识别,获得合适的轨迹参数,并通过图像滤波整形、轨迹提取、模糊控制、道路记忆等优化算法实现对舵机和驱动电机的精确控制,从而使得行进中的小车具有良好的转向调节能力和加减速响应。实验结果表明,该套设计方案简单可靠,具有较好的动态性能和鲁棒性,能使小车在风云变幻的大赛中跑出令人满意的成绩。
A self-tracing smart car system containing a core of HCS12 MCU control unit of Freescale is proposed. In order to trace the track as fast as possible, it is necessary for the car to get prompt turning action and rapid acceleration response. Those properties depend on effective image acquisition and processing. Acquiring useful information provided by a CMOS camera, the system can recognize the track and give proper parameters of the raceway curve, then choose optimized control algorithm for image acquisition, noise filtering, shape reforming, fuzzy logical control and memory methods to make precise control of servo and driver motors. Experiment results demonstrate that this smart car has a good ability to regulate direction and to response the acceleration quickly, and the system is also stable and has satisfactory dynamic performance and robustness.
出处
《传感技术学报》
CAS
CSCD
北大核心
2009年第4期484-488,共5页
Chinese Journal of Sensors and Actuators
关键词
图像处理
图像识别技术
采样与滤波算法
图像还原
CMOS摄像头
image processing
image acquisition technology
sample and filter algorithm
image restoration
CMOS camera sensor
